• CN:11-2187/TH
  • ISSN:0577-6686

›› 2006, Vol. 42 ›› Issue (5): 110-114.

• 论文 • 上一篇    下一篇

闭环输入整形器消除多模态柔性系统残留振荡

董明晓;孙杰;郑康平;张明勤;张桂青   

  1. 山东建筑工程学院机电工程学院;西安交通大学机械工程学院;山东大学机械工程学院
  • 发布日期:2006-05-15

CLOSED-LOOP INPUT SHAPER ELIMINATING RESIDUAL VIBRATION OF MULTI-MODE FLEXIBLE SYSTEMS

DONG Mingxiao;SUN Jie;ZHENG Kangping ZHANG Mingqin;ZHANG Guiqing   

  1. College of Mechanical and Electronic Engineering, Shandong Institute of Architecture and Engineering School of Mechanical Engineering, Xi’an Jiaotong University School of Mechanical Engineering, Shandong University
  • Published:2006-05-15

摘要: 输入整形技术能抑制柔性系统的残留振荡,但目前多采用开环控制策略,不能消除由于非零初始状态、参数变化、外界干扰和系统非线性等不确定性因素引起的振荡。对输入整形系统提出闭环控制策略,将输入整形器与振动阻尼器相结合共同抑制多模态柔性系统残留振荡。输入整形器阻止操作命令向系统中注入能量,振动阻尼器阻尼掉由于不确定性因素注入系统中的能量,这两个控制器共同作用能有效消除系统残留振荡。与开环输入整形技术相比,有更强的参数鲁棒性和抗外界干扰能力。将这一控制技术用于起重机模拟试验系统,能有效抑制载荷的残留摆动。

关键词: 闭环控制, 柔性, 振荡, 整形器

Abstract: Though input shaping technologies are used to reduce residual vibration of flexible systems, most input shaping technologies adopt open-loop control scheme and can not handle the uncertainties such as non-zero initial conditions, external disturbances, model parameter variations and system nonlinearities. A closed-loop input shaping control scheme, which combines an input shaper with a vibration damper, is proposed for suppressing the residual oscillations of the multi-mode flexible systems. The input shaper prevents the operator from inadvertently adding energy to the system through the commands, and the vibration damper acts as energy damper to remove the energy that has entered into the system from aforementioned uncertainties, so the two controllers cooperate with each other to suppress the residual vibration. Compared with the open-loop input shaper, the robustness and disturbance resistance of the closed-loop input shaper is strengthened. The proposed control technology is used in crane experiment to suppress the residual oscillation of payload.

Key words: Closed-loop control Vibration, Flexibility, Shaper

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